DE102016014294A1 - Steering system for semi-autonomous and / or autonomous motor vehicles with an evidence preserving device for recording accident data - Google Patents

Abstract

The invention relates to a steering system (1) for a semiautonomously or autonomously driving motor vehicle having a steering gear (9) which is operatively connected to an electric motor for steering the wheels (7) of the motor vehicle and to a steering control unit (12) which controls the steering system (1 ), wherein the steering system (1) comprises a proof securing device (11) which is adapted to store data of the steering control unit (12) allowing conclusions to be drawn on the presence of an autonomous, semi-autonomous or manual driving mode of the steering system (1) and which is adapted, in the event of an accident, to permanently store this data and / or the driving mode on an electronic storage medium 11 '.

Description

The present invention relates to a steering system for motor vehicles with the features of the preamble of claim 1 and a method for recording data during an accident, which are referred to below as accident data, a motor vehicle having the features of the preamble of claim 6.

To increase the driving safety of a motor vehicle on the road, modern motor vehicles have an increasing number of driver assistance systems, which are directed to increasing active safety. In addition to speed controls and partially associated distance regulations and lane keeping systems are known.

These driver assistance systems can enable an autonomous or semi-autonomous driving mode of the motor vehicle. In an autonomous driving mode, the motor vehicle with the aid of various sensors of the driver assistance system can detect the surroundings of the motor vehicle and control the motor vehicle completely automatically by presetting predetermined values. In a semi-autonomous driving mode, however, the driver assistance system steers automatically by specifying a predetermined steering angle. This is the case, for example, in a semi-autonomous parking operation. Here, the driver assistance system takes over the steering of the motor vehicle and the driver operates the accelerator pedal and the brake. In a manual driving mode, however, the driver takes over the control of the motor vehicle.

The term accident data storage has long been known methods and devices for vehicles, which record and store operational data continuously in a data storage system during operation of the vehicle. As soon as an accident occurs, an accident signal is reported by corresponding vehicle sensors and permanently stored data stored on the storage medium over a certain time window.

From the publication DE 198 46 422 A1 a method and a device for detecting crash- and / or Precrash-related data is known in which constantly current data is captured and cached and frozen on detection of an accident event over a period before and possibly after the cached memory contents. Such data can later be used to evaluate the accident event in order to provide information about the course of the accident. In addition to the operational vehicle data, the accident data memory also stores image data from a vehicle interior. In this case, each seat is optically detected by a video camera with a full occupation of the interior. In addition, additional cameras are provided, which record the immediate external environment of the vehicle. The problem, however, is that these image recording devices can be damaged in the event of an accident and no longer provide information.

In the case of autonomous or semi-autonomous driving, there is also the problem that after an accident it can not or only with difficulty be proven whether a steering intervention by the driver or by the automatic driving system has led to the accident.

It is therefore an object of the present invention to provide a steering system for motor vehicles with a device for recording and recording of accident data and a method which permanently secures vehicle-relevant data in the event of an accident of a semi-autonomous or autonomously driving motor vehicle in a simple and reliable manner.

This object is achieved by a steering system with the features of claim 1 and a method for detecting and recording accident data with the features of claim 6. In the subclaims advantageous developments of the invention are mentioned.

Thus, a steering system for a semi-autonomous or autonomous driving motor vehicle is provided with a steering gear operatively connected to an electric motor for steering wheels of the motor vehicle and with a steering control unit controlling the steering system, the steering system having a proof securing device arranged thereto To store data of the steering control unit, which allow conclusions about the presence of an autonomous, semi-autonomous or manual driving mode of the steering system, and which is set up in the event of an accident, this data and / or the driving mode permanently or over a defined period to store an electronic storage medium.

The term accident means a collision with another vehicle, car, motorcycle, bicycle or with humans, animals or other objects, such as houses, but also, for example, the agreement of a road without a collision.

Due to the permanent storage of the data of the steering control unit can be determined in the aftermath of the evaluation of the accident, whether the driver or the steering system, the vehicle have steered and / or what was the cause of the accident. Existing steering systems can be easily extended with the evidence protection device. In addition, it is possible to accommodate the electronic storage medium so that it survives an accident unscathed and thus can be read reliably after the accident.

• - an einer Lenkwelle des Lenksystems anliegender Lenkwinkel,
• - an der Lenkwelle des Lenksystems anliegendes Drehmoment,
• - die an der Lenkwelle des Lenksystems anliegende Lenkgeschwindigkeit,
• - Informationen über die Stellung der gelenkten Räder des Kraftfahrzeugs,
• - weiterer Fahrbahninformationen,
• - Daten einer Innenraumkamera,
• - Fahrzeuginformationen,
• - insassentypische Informationen,
• - Informationen einer Hands-on/off-Erkennung.

The data of the steering control unit preferably comprises at least one element from the following list of information:

• steering angle applied to a steering shaft of the steering system,
• - Torque applied to the steering shaft of the steering system,
• the steering speed applied to the steering shaft of the steering system,
• Information about the position of the steered wheels of the motor vehicle,
• - further lane information,
• - data of an interior camera,
• - vehicle information,
• - occupant information,
• - Information of a hands-on / off detection.

In detail, but also in combination, this information serves to provide conclusions about the present driving mode of the steering system.

It is preferred if the data of the steering control unit are continuously recorded and buffered and if an accident event is detected over a period of time before and / or after that the buffered memory contents are permanently stored on the electronic storage medium. As a result, the accident can be evaluated retrospectively.

The steering system preferably has an accident sensor and / or a pre-crash sensor for detecting the accident event.

In a preferred embodiment, the steering system is a steer-by-wire steering system with a steering wheel acting on the steered wheels, electronically controlled as a function of a Fahrerlenkwunsches steering actuator, with a feedback of the road on a control transmitting feedback actuator, and with a steering control unit, the controls the feedback actuator and the steering actuator.

• - Erfassen von Daten der Lenkungssteuereinheit, die es erlauben Rückschlüsse auf das Vorliegen eines autonomen, halbautonomen oder manuellen Fahrmodus des Lenksystems zu liefern, mittels einer Beweissicherungseinrichtung,
• - Zwischenspeichern und Bereitstellen der Daten auf einem elektronischen Speichermedium,
• - dauerhaftes Speichern der zwischengespeicherten Daten, die während einer vorherbestimmten Zeitspanne auf dem elektronischen Speichermedium zwischengespeichert worden sind, wenn ein Unfallereignis des Kraftfahrzeugs identifiziert wird.

Furthermore, a method for detecting and recording accident data of a semiautonomously and / or autonomously driving motor vehicle with a steering system with a steering gear, which is operatively connected to an electric motor for steering wheels of the motor vehicle and with a steering control unit that controls the steering system provided comprising the steps:

• Detecting data of the steering control unit, which make it possible to draw conclusions about the presence of an autonomous, semi-autonomous or manual driving mode of the steering system, by means of a proof securing device,
• - Caching and providing the data on an electronic storage medium,
• - Permanently storing the cached data that has been cached on the electronic storage medium during a predetermined period of time when an accident event of the motor vehicle is identified.

• - an einer Lenkwelle des Lenksystems anliegender Lenkwinkel,
• - an der Lenkwelle des Lenksystems anliegendes Drehmoment,
• - die an der Lenkwelle des Lenksystems anliegende Lenkgeschwindigkeit,
• - Informationen über die Stellung der gelenkten Räder des Kraftfahrzeugs,
• - Fahrbahninformationen,
• - Daten einer Innenraumkamera,
• - Fahrzeuginformationen,
• - insassentypische Informationen,
• - Informationen einer Hands-on/off-Erkennung.

The data of the steering control unit preferably comprises at least one element from the following list of information:

• steering angle applied to a steering shaft of the steering system,
• - Torque applied to the steering shaft of the steering system,
• the steering speed applied to the steering shaft of the steering system,
• Information about the position of the steered wheels of the motor vehicle,
• - roadway information,
• - data of an interior camera,
• - vehicle information,
• - occupant information,
• - Information of a hands-on / off detection.

In detail, but also in combination, this information serves to provide conclusions about the present driving mode of the steering system.

It is preferred to identify the accident event by means of an accident sensor installed in the motor vehicle and / or pre-crash sensor.

Preferably, the predetermined period of time extends from a first time before the accident event to a second time point on or after the accident event.

In this case, the second time point is preferably defined by standstill of the vehicle or it is up to 20 seconds after the vehicle is at a standstill. The movement of the vehicle can thus after the accident until the standstill of the Vehicle or until shortly thereafter. As a vehicle standstill is to be understood here that the vehicle acceleration and yaw rate takes the value 0, so that a termination of a state of motion of the vehicle is present.

In a preferred embodiment, the steering system is a steer-by-wire steering system and the steering control unit controls a feedback actuator and a steering actuator.

It may also be provided that, when a motor vehicle is at a standstill, the cached data is likewise stored permanently when a dangerous state is detected. This is advantageous if, for example, the danger state is a burglary, robbery or an accident with the stationary motor vehicle. The stored data can thus provide important information about the crime.

It is also conceivable and possible for the conclusions of the driving mode to use information from a rear-wheel steering

• 1: eine Darstellung eines halbautonom und/oder autonom fahrenden Kraftfahrzeugs mit einem Lenksystem,
• 2: eine schematische Darstellung eines Steer-by-Wire-Lenksystems mit einer Beweissicherungseinrichtung,
• 3: ein Blockdiagramm einer Steuerung des Steer-by-Wire-Lenksystems mit Lenkgetriebe und Feedback-Aktuator,
• 4: eine weitere schematische Darstellung eines Steer-by-Wire-Lenksystems mit einer Beweissicherungseinrichtung, sowie
• 5: eine schematische Ansicht der Beweissicherungseinrichtung.

Preferred embodiments of the invention are explained below with reference to the drawings. Similar or equivalent components are denoted by the same reference numerals in the figures. Show it:

• 1 : a representation of a semi-autonomous and / or autonomously driving motor vehicle with a steering system,
• 2 FIG. 2 is a schematic illustration of a steer-by-wire steering system with a proof securing device. FIG.
• 3 FIG. 1 is a block diagram of a steer-by-wire steering system with steering gear and feedback actuator. FIG.
• 4 : Another schematic representation of a steer-by-wire steering system with a preservation device, as well
• 5 : a schematic view of the evidence securing device.

In the 1 is a motor vehicle with a steer-by-wire steering 1 and a rear-wheel steering 100 shown. In steer-by-wire steering systems is the position of steered wheels 7 not directly with a steering wheel 3 coupled. There is a connection between the steering wheel 3 and the steered wheels 7 via electrical signals. In place of the mechanical coupling are a Radwinkelsteller for positioning of the wheels 7 and a Handkraftaktuator 4 , as in 3 shown, used to simulate the restoring forces on the steering wheel 3.

2 shows the steer-by-wire steering 1 in detail. On a steering shaft 2 an unillustrated rotation angle sensor is mounted, which by turning the steering wheel 3 applied driver steering torque detected. Furthermore, on the steering shaft 2 a feedback actuator 4 attached, which serves the repercussions from the roadway 5 on the steering wheel 3 to transmit and thus give the driver feedback on the steering and handling of the vehicle. The driver's steering request is determined by the rotational angle of the steering shaft measured by the rotational angle sensor 2 via signal lines 99 transmitted to a steering control unit. The steering control unit controls in response to the signal from the rotation angle sensor and other input variables, such. As vehicle speed, yaw rate and the like an electric steering actuator 6 indicating the position of the steered wheels 7 controls. The steering wheel 6 includes an electric motor 8th that has a rack-and-pinion steering gear 9 as well as tie rods 10 and other components indirectly on the steered wheels 7 acts and an impact of the wheels 7 achieved by an angle β. In the area of the feedback actuator 4 is an evidence-securing facility 11 provided that evaluates the signals of the steering system to detect whether an autonomous, semi-autonomous or manual driving mode of the steering system is present.

3 shows the relationship between feedback actuator 4 , Steering control unit 12 and steering wheel 6 , The feedback actuator 4 includes the rotation angle sensor, a torque sensor and a motor 60 on. The feedback actuator 4 communicates with a first control unit 120 the steering control unit 12 over control and signal lines 13 , The first control unit 120 transmits over the signal line 14 the data from the sensors to a second control unit 1200 , The second control unit 1200 gives among other things the position of the steered wheels 7 (Angle β), one by means of a rack 90 measured rack force or a rack position to the first control unit 120 Continue, the feedback actuator 4 controls.

The evidence preserving facility 11 is part of the first control unit 50 and receives signals from the feedback actuator 4 in a preferred embodiment, one on the steering shaft 2 present steering angle α, a torque and a steering speed represent. The evidence preserving facility 11 may also provide information about the position of the steered wheels 7 from the second control unit 1200 and / or other roadway information, such as driving over a lane, breakout, or stone, that will allow conclusions to be drawn about the course of the accident or event triggering the accident. Furthermore, the evidence protection device 11 a position determination of Vehicle by means of GPS (Global Navigation Satellite System) have. It can also be provided that the evidence-securing device 11 Receives data from an interior camera that monitors movement, attention, fatigue, or eye monitoring of the driver or other occupants. Furthermore, the evidence preserving device receives 11 also prefers vehicle information, such as the vehicle speed and yaw rate and / or occupant information, such as the weight, the seat occupancy, whether a seat belt is locked in the buckle or whether the belt is taut. The evidence preserving facility 11 can evaluate this data to detect if there is a manual or automated steering command. It can also be provided that the evidence securing device 11 exclusively or additionally has a hands-on / -off detection or receives information transmitted by such a detection, which detects, for example by means of the rotation angle sensor and the torque sensor, whether the driver the steering wheel 3 what is also known as hands-on detection. The data provided by the Evidence Warehouse 11 are all transmitted on an electronic storage medium 110 the evidence-securing facility 11 saved. It can also be provided that the electronic storage medium 110 not part of the evidence securing device 11 is. It can be provided that the evidence securing device 11 itself already analyzes the data and provides information about the driving mode. But it is also possible that the data from the electronic storage medium 110 be read out and exploited by an analysis unit that can be provided internally or externally. It is also conceivable and possible, the evidence preserving device 11 and the electronic storage medium 110 in the second control unit 1200 provided.

For the subsequent reconstruction of an accident event, it is necessary that on the electronic storage medium 110 permanently store or save cached data. In order to cause a permanent storage of the cached data, the steering system is, for example, with an accident sensor 15 equipped to register or identify an accident and on the occurrence of an accident event, the permanent storage of the cached data on the electronic storage medium 110 causes or triggers. Depending on the embodiment, such an accident sensor 15 an inertial sensor, acoustic sensor or mechanical stress sensor - a strain gauge - that is housed in relevant locations in the vehicle. From the time of the accident until a point in time after the vehicle is at a standstill, all accident data should be recorded, stored permanently and frozen after the recording has ended, so that it can not be subsequently manipulated. The time from the beginning of recording to the end of the recording is preferably longer than 5 seconds. Preferably, the time interval is between 8 seconds and 30 seconds. For a later analysis of the accident, it is expedient if the predetermined time period t of the permanent storage of the data extends from a first time t1 before the accident event to a second time t2 on or after the accident event. As a result, not only the event triggering the accident is documented, but also further follow-up actions of the driver or subsequent events of the accident. The predetermined time t is preferably between 10 seconds and 45 seconds.

It can also be provided to store the data of the evidence protection device on a plurality of storage media, for example, to increase the redundancy of the system.

The permanent storage of the data ends with the vehicle standstill, both in the normal case, when the vehicle is turned off, as well as in the event of an accident or a short time after vehicle stoppage, in particular up to 20 seconds after standstill.

It can also be provided that a pre-crash sensor 16 permanently storing the cached data on the electronic storage medium 110 causes or triggers. From this point on, the recording begins and ends with the vehicle stationary or ends preferably after up to 15 seconds from the vehicle standstill or after up to 20 seconds from the vehicle standstill. Pre-crash sensors 16 detect an impending collision before they enter. They include active and / or passive electromagnetic methods such as lidar (light detection and ranging), radar, image explosion or stereo image processing. In the pre-crash sensor 16 signal acquisition and signal evaluation occurs to predict an impact on an object, such as an object or a person. In one embodiment, the persistent storage begins a few seconds prior to the pre-crash detection of the pre-crash sensor 16 , for example, 5 seconds, and ends with the vehicle standstill (acceleration and yaw rate = 0).

It may be provided that the motor vehicle starts at standstill by motion sensors or the like with the permanent memory of the data on the storage medium upon detection of a hazardous condition, for. B. burglary, theft or to record third-party debt.

In the 4 a further embodiment of a steer-by-wire steering 1 is shown, which is essentially the steer-by-wire steering in 2 equivalent. But she has an electronic clutch 17 in the autonomous and / or semi-autonomous driving mode, the movement of the steering wheel 3 from the movement of the wheels 7 can decouple, so that the driver is not affected by the movement of the steering wheel 3 is hampered.

5 shows in detail the evidence protection device 11 , which collects a variety of data of the steering and the vehicle and, for example, for permanent storage on an external storage medium passes.

With the steering system according to the invention for autonomously and / or semi-autonomously driving motor vehicles and the method for recording accident data of these vehicles by means of an evidence protection device can thus be clearly established whether the driver or the steering device has performed the steering movement. The evaluation of the data can be done by the evidence-securing device itself. However, it can also be provided that the evaluation takes place externally by, for example, a diagnostic device connected to the motor vehicle.

Although a steer-by-wire steering is shown here in the example, the invention can preferably also be applied to motor vehicles with electromechanical power steering.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 19846422 A1 [0005]

Claims (12)

Steering system (1) for a semiautonomously and / or autonomously driving motor vehicle with a steering gear (9) which is operatively connected to an electric motor (8) for steering wheels (7) of the motor vehicle and to a steering control unit (12) which controls the steering system (9). 1), characterized in that the steering system (1) comprises a proof securing means (11) adapted to store data of the steering control unit (12) allowing conclusions to be drawn on the autonomous, semi-autonomous or manual driving mode of the steering system (1), and which is arranged in the event of an accident to permanently store this data and / or the driving mode on an electronic storage medium (110). Steering system (1) to Claim 1 , characterized in that the data of the steering control unit (12) comprise at least one element from the following list: - at a steering shaft (2) of the steering system (1) fitting steering angle (α), - on the steering shaft (2) of the steering system (1) applied torque, - the steering speed applied to the steering shaft (2) of the steering system (1), - information about the position of the steered wheels (7) of the motor vehicle, - lane information, - interior camera data, - vehicle information, - type information, - information a hands-on / off detection Steering system (1) to Claim 1 or 2 , characterized in that the data of the steering control unit (12) are continuously detected and cached and stored upon detection of an accident event over a period of time before, and / or thereafter the cached memory contents permanently on the electronic storage medium (110). Steering system (1) to Claim 3 , characterized in that the steering system (1) has an accident sensor (15) and / or a pre-crash sensor (16) for detecting the accident event. Steering system (1) according to any one of the preceding claims, characterized in that the steering system (1) with a steer-by-wire steering system with an on the steered wheels (7) acting in response to a driver's steering electronically controlled steering actuator (6), with a feedback of the road (5) on a control (3) transmitting feedback actuator (4), and with a steering control unit (12) which controls the feedback actuator (4) and the steering actuator (6) is. Method for recording and recording accident data of a semiautonomously and / or autonomously driving motor vehicle with a steering system (1) having a steering gear (9) which is operatively connected to an electric motor (8) for steering wheels (7) of the motor vehicle and with a steering control unit (12) controlling the steering system (1), comprising the steps of: - acquiring data of the steering control unit (12) which allow conclusions to be drawn on the presence of an autonomous, semi-autonomous or manual driving mode of the steering system (1) by means of a proof securing device (11), Caching and providing the data on an electronic storage medium (110), - permanently storing the cached data that has been cached on the electronic storage medium (110) for a predetermined period of time when an accident event of the motor vehicle is identified. Method according to Claim 6 , characterized in that the data of the steering control unit (12) comprise at least one element from the following list: - at a steering shaft (2) of the steering system (1) fitting steering angle (α), - on the steering shaft (2) of the steering system (1) applied torque, - the steering speed applied to the steering shaft (2) of the steering system (1), - information about the position of the steered wheels (7) of the motor vehicle, - lane information, - interior camera data, - vehicle information, - type information, - information a hands-on / off detection. Method according to Claim 6 or 7 , characterized in that the accident event is identified by means of a built-in motor vehicle accident sensor (15) and / or pre-crash sensor (16). Method according to one of Claims 6 to 8th , characterized in that the predetermined period of time (t) extends from a first time (t1) before the accident event to a second time (t2) on or after the accident event. Method according to Claim 9 , characterized in that the second time point is defined by the stoppage of the vehicle or is up to 20 seconds after the stoppage of the vehicle. Method according to one of Claims 6 to 10 , characterized in that the steering system (1) is a steer-by-wire steering system and controls the steering control unit (12), a feedback actuator (4) and a steering actuator (6). Method according to one of Claims 6 to 11 , characterized in that at standstill of the motor vehicle upon detection of a dangerous condition, the cached data are also permanently stored.

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